U.S. patent application number 16/709421 was filed with the patent office on 2020-06-18 for moving robot and method for controlling the same.
This patent application is currently assigned to LG ELECTRONICS INC.. The applicant listed for this patent is LG ELECTRONICS INC.. Invention is credited to Jongil PARK, Seungin SHIN, Kyungman YU.
Application Number | 20200193071 16/709421 |
Document ID | / |
Family ID | 71071636 |
Filed Date | 2020-06-18 |
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United States Patent
Application |
20200193071 |
Kind Code |
A1 |
YU; Kyungman ; et
al. |
June 18, 2020 |
MOVING ROBOT AND METHOD FOR CONTROLLING THE SAME
Abstract
A robot and a method for controlling the robot detects a theft
of the robot based on posture information for a main body of the
robot and position information of the robot. Operation of the robot
is restricted depending on whether a theft of the robot is
detected.
Inventors: |
YU; Kyungman; (Seoul,
KR) ; PARK; Jongil; (Seoul, KR) ; SHIN;
Seungin; (Seoul, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
LG ELECTRONICS INC. |
Seoul |
|
KR |
|
|
Assignee: |
LG ELECTRONICS INC.
Seoul
KR
|
Family ID: |
71071636 |
Appl. No.: |
16/709421 |
Filed: |
December 10, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A01D 34/008 20130101;
G06F 21/88 20130101; H04L 9/3226 20130101; G05D 1/0219 20130101;
G05D 2201/0208 20130101; H04W 4/029 20180201; A01D 2101/00
20130101 |
International
Class: |
G06F 21/88 20060101
G06F021/88; A01D 34/00 20060101 A01D034/00; H04L 9/32 20060101
H04L009/32; G05D 1/02 20060101 G05D001/02; H04W 4/029 20060101
H04W004/029 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 12, 2018 |
KR |
10-2018-0160277 |
Claims
1. A robot, comprising: a main body, the main body including a
handle; a driving unit configured to move the main body; a sensing
unit configured to sense at least one of state information of the
main body; a communication unit configured to communicate with a
communication target element of the robot; an output unit
configured to display a control screen of the robot; and a
controller configured to: determine position information of the
main body based on at least one of a result of sensing by the
sensing unit or a result of communication by the communication
unit, control the driving unit such that the main body travels in a
travel area, detect whether a theft of the robot has occurred when
an anti-theft mode is set based on the state information of the
main body sensed by the sensing unit and the position information,
and control at least one of the driving unit, the communication
unit, or the output unit to restrict operation of the robot when
the theft of the robot is detected.
2. The robot of claim 1, wherein the sensing unit comprises: a
contact sensor configured to sense a gripped state of the handle;
and a tilt sensor configured to sense a posture of the main
body;
3. The robot of claim 1, wherein the controller is configured to
determine whether the robot is outside of the travel area based on
a comparison of predetermined criteria with state information of
the main body sensed by the sensing unit, and the position
information, and use the result of the comparison and the position
information to detect a theft of the robot.
4. The robot of claim 3, wherein the predetermined criteria include
at least one of a gripped state of the handle or an inclination of
the main body.
5. The robot of claim 3, wherein the controller is configured to
determine that a theft has occurred when the state information of
the main body sensed by the sensing unit corresponds to the
predetermined criteria, and the position information is outside of
the travel area.
6. The robot of claim 3, wherein the controller is configured to
determine that a malfunction in the sensing unit has occurred when
the predetermined criteria corresponds to the state information of
the main body sensed by the sensing unit and the position
information falls within the travel area.
7. The robot of claim 1, wherein the controller is configured to
control the driving unit, the communication unit, and the output
unit to restrict operation of the robot when the theft of the robot
is detected.
8. The robot of claim 7, wherein the controller is configured to
cut off power supplied to the driving unit and the output unit to
restrict the driving of the driving unit and the output unit, and
transmit information regarding the theft to the communication
target element via the communication unit, when the theft of the
robot is detected.
9. The robot of claim 8, wherein the controller is configured to
control the output unit to display an input screen for requesting
an input of a preset usage code after detecting the theft, and
determine whether to cut off the power supplied to the driving unit
and the output unit depending on the usage code entered through the
input screen.
10. The robot of claim 9, wherein the controller is configured to
determine that the robot is not stolen when the usage code entered
through the input screen matches the preset usage code, and
maintain the power supplied to the driving unit and the output unit
when the robot is not stolen, and determine that the robot is
stolen when the usage code entered through the input screen does
not match with the preset usage code, and cut off the power
supplied to the driving unit and the output unit when the robot is
stolen.
11. The robot of claim 10, wherein the controller is configured to
cut off the power supplied to the driving unit and the output unit
when the usage code is entered incorrectly a predetermined number
of times.
12. The robot of claim 8, wherein the controller is configured to
continue determining the position information of the main body
after detecting the theft of the robot until determining that the
robot has not been stolen, and transmit the position information to
the communication target element via the communication unit
according to a predetermined transmission period.
13. The robot of claim 9, wherein the controller is configured to
continue determining the position information of the main body
after detecting the theft of the robot until determining that the
robot has not been stolen, and transmit the position information to
the communication target element via the communication unit
according to a predetermined transmission period.
14. The robot of claim 10, wherein the controller is configured to
continue determining the position information of the main body
after detecting the theft of the robot until determining that the
robot has not been stolen, and transmit the position information to
the communication target element via the communication unit
according to a predetermined transmission period.
15. The robot of claim 11, wherein the controller is configured to
continue determining the position information of the main body
after detecting the theft of the robot until determining that the
robot has not been stolen, and transmit the position information to
the communication target element via the communication unit
according to a predetermined transmission period.
16. A method for controlling a robot including a main body provided
with a handle, a driving unit configured to move the main body, a
sensing unit configured to sense at least one of state information
of the main body, a communication unit communicating with a
communication target element of the robot, an output unit
displaying a control screen of the robot, and a controller
configured to determine position information of the main body based
on at least one of a result of sensing by the sensing unit or a
result of communication by the communication unit, and control the
driving unit such that the main body is controlled to travel in a
travel area, the method comprising: detecting a theft occurrence of
the robot based on the result of sensing by the sensing unit and
the position information; displaying an input screen on the output
unit for requesting an input of a preset usage code; and
controlling driving of the driving unit and the output unit
depending on the usage code entered through the input screen.
17. The method of claim 16, wherein sensing by the sensing unit
comprises sensing a gripped state of the handle and sensing a
posture of the main body.
18. The method of claim 16, further comprising: determining that
the robot is not stolen when the usage code entered through the
input screen matches the preset usage code, and maintain the power
supplied to the driving unit and the output unit, and determine
that the robot is stolen when the usage code entered through the
input screen does not match with the preset usage code, and cut off
the power supplied to the driving unit and the output unit.
19. The method of claim 18, further comprising cutting off the
power supplied to the driving unit and the output unit when the
usage code entered through the input screen is entered incorrectly
a predetermined number of times.
20. The method of claim 16, further comprising continuing to
determine the position information of the main body after detecting
the theft of the robot until determining that the robot has not
been stolen, and transmitting the position information to the
communication target element via the communication unit according
to a predetermined transmission period.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of priority of Korean
Application No. 10-2018-0160277, filed on Dec. 12, 2018, the
contents of which is hereby incorporated by reference herein in its
entirety.
TECHNICAL FIELD
[0002] The present disclosure relates to a moving robot that
autonomously travels in a travel area and a method for controlling
the moving robot.
BACKGROUND ART
[0003] Generally, a moving robot is a device that automatically
performs a predetermined operation while traveling by itself in a
predetermined area without a user's operation. The moving robot
senses obstacles located in the area and performs its operation by
moving close to or away from such obstacles.
[0004] Such a lawn mower robot may include a cleaning robot that
carries out cleaning while traveling in an area, as well as a lawn
mower robot that mows the grass on a bottom of the area. Generally,
lawn mower devices include a riding-type device that moves
according to a user's operation to cut a lawn or perform weeding
when the user rides on the device, and a work-behind type or hand
type device that is manually pushed or pulled by the user to move
and cut a lawn. Such a lawn mower is moved by a direct control of
the user to mow the lawn, which causes user's inconvenience in that
the device is operated only directly by the user. Accordingly,
research has been conducted on a moving robot-type mower device
including elements that cut a lawn.
[0005] Such a moving robot for lawn mowing (lawn mower) operates
outdoors rather than indoors, and thus the moving robot for lawn
mowing moves in a wider area compared to a moving robot traveling
in an indoor area. In the case of indoors, a surface of the floor
is monotonous (or flat), and factors such as terrain and objects
affecting traveling of a moving robot are limited. On the other
hand, as for outdoors, since it is an open space, there are many
factors affecting traveling of a moving robot, and the traveling of
the moving robot is greatly affected by the terrain. The moving
robot traveling in such an outdoor environment is exposed to risks
such as theft, damage, and the like, and thus it is vulnerable when
it comes to reliability and security. In addition, the moving robot
can be an easy target for theft as it is pricey, and be easily
stolen or damaged by a stranger intruding a travel area as it is
exposed to the outdoor environment.
[0006] Meanwhile, U.S. Patent Laid-Open Publication No.
2018/0213718A1 (Published on Aug. 2, 2018) (hereinafter referred to
as "related art document") discloses a moving robot in which a door
lock designed to prevent an entry of a charging station, and the
like is installed to monitor a moving robot by an infrared sensor
or detector, and a door is opened only for a registered robot. This
moving robot disclosed in the related art document is limited to a
moving robot that travels in an indoor environment, and thus it is
not suitable for a moving robot for lawn mowing that travels in an
outdoor environment. In addition, an additional or separate support
structure for sensing a moving robot is required, and factors and
constraints regarding the outdoor environment are not taken into
consideration, and thus a security countermeasure applicable to the
outdoor environment is not provided.
[0007] In other words, in the related art moving robot, a security
technology suitable for an open outdoor environment is not
provided. In addition, in the field of moving robot technology, in
general, a method for detecting theft, taking a proper follow-up
measure after identifying the theft, and the like have not been
provided, thereby making it difficult to prevent moving robot
theft.
DISCLOSURE
Technical Problem
[0008] Therefore, an aspect of the present disclosure is to obviate
the above-mentioned problems and other drawbacks.
[0009] More particularly, an aspect of the present disclosure is to
provide a moving robot that can easily and accurately detect a
situation of theft occurrence without a separate sensing element,
and a method for controlling the moving robot.
[0010] Another aspect of the present disclosure is to provide a
moving robot capable of taking a follow-up measure responding to a
theft occurrence in an effective and efficient manner and tracking
a theft (or stolen) path, and a method for controlling the moving
robot.
[0011] Still another aspect of the present disclosure is to provide
a moving robot capable of detecting a theft occurrence accurately
and taking a countermeasure against the theft occurrence in an
effective and efficient manner, so as to prevent risks such as
theft and damage from occurring, and a method for controlling the
moving robot.
Technical Solution
[0012] Embodiments disclosed herein provide a moving robot that may
detect a theft occurrence of the moving robot based on conditions
(or criteria) of a situation of theft occurrence, and control
driving of the moving robot depending on a result of detection, and
a method for controlling the moving robot.
[0013] In detail, when a mode is set to an anti-theft mode, theft
occurrence may be detected based on posture information and
position information of the moving robot, and the moving robot may
be controlled such that functions of the moving robot are limited
when the theft occurrence of the moving robot is detected.
[0014] That is, in the moving robot and the method for controlling
the moving robot according to the present disclosure, the theft
occurrence may be detected based on the posture information and the
position information of the moving robot, so that driving of the
moving robot is restricted depending on the result of detection,
thereby preventing the moving robot from being stolen.
[0015] Accordingly, in the moving robot and the method for
controlling the moving robot according to the present disclosure,
the theft occurrence of the moving robot may be detected, and
driving of the moving robot may be restricted accordingly.
[0016] The technical features herein may be implemented as a
control element for a moving robot, a method for controlling a
moving robot, a method for determining and detecting moving robot
theft, and a method for preventing moving robot theft, and the
like. This specification provides embodiments of the moving robot
and the method for controlling the moving robot having the
above-described technical features.
[0017] In order to achieve the aspects and other advantages of the
present disclosure, there is provided a moving robot including a
main body provided with a handle, a driving unit moving the main
body, a sensing unit configured to sense at least one of state
information of the main body, a communication unit communicating
with a communication target element of the moving robot, an output
unit displaying a control screen of the moving robot, and a
controller determining position information of the main body based
on at least one of a result of sensing by the sensing unit and a
result of communication by the communication unit, and controlling
the driving unit such that the main body travels in a travel area.
The controller, when an anti-theft mode designed to prevent the
moving robot from being stolen is set, may detect a theft
occurrence of the moving robot based on the result of sensing and
the position information, and control driving of at least one of
the driving unit, the communication unit, or the output unit to
restrict operation of the moving robot depending on a result of
detection.
[0018] In order to achieve the aspects and other advantages of the
present disclosure, there is also provided a method for controlling
a moving robot including a main body provided with a handle, a
driving unit moving the main body, a sensing unit configured to
sense at least one of state information of the main body, a
communication unit communicating with a communication target
element of the moving robot, an output unit displaying a control
screen of the moving robot, and a controller determining position
information of the main body based on at least one of a result of
sensing by the sensing unit and a result of communication by the
communication unit, and controlling the driving unit such that the
main body travels in a travel area, the method may include
detecting a theft occurrence of the moving robot based on the
result of sensing and the position information, displaying an input
screen on the output unit for requesting an input of a preset usage
code, and controlling driving of the driving unit and the output
unit depending on the usage code entered through the input
screen.
Advantageous Effects
[0019] In a moving robot and a method for controlling the moving
robot according to the present disclosure, a theft occurrence is
detected based on conditions of a moving robot theft occurrence
situation, thereby detecting the moving robot theft occurrence
easily and accurately.
[0020] In addition, in the moving robot and the method for
controlling the moving robot according to the present disclosure, a
follow-up measure responding to a situation of theft occurrence can
be taken in an effective and efficient manner and a stolen (or
theft) path can be easily tracked by restricting operation and
manipulation of the moving robot, and controlling driving of the
moving robot to be limited enough to keep transmitting information
of the theft occurrence.
[0021] Further, in the moving robot and the method for controlling
the moving robot according to the present disclosure, theft of the
moving robot, exposed to risks such as theft and damage, can be
prevented in an effective and efficient manner.
[0022] Thus, the moving robot and the method for controlling the
moving robot according to the present disclosure can not only
obviate limitations of the related art, but also improve usability,
reliability, stability, and security in the technical field of
moving robots for lawn mowing.
BRIEF DESCRIPTION OF THE DRAWINGS
[0023] FIG. 1 is a configuration diagram illustrating one
embodiment of a moving robot according to the present
disclosure.
[0024] FIG. 2 is a configuration diagram illustrating a moving
robot according to the present disclosure.
[0025] FIG. 3 is a configuration diagram illustrating a moving
robot according to the present disclosure.
[0026] FIG. 4 is a conceptual view illustrating one embodiment of a
travel area of the moving robot according to the present
disclosure.
[0027] FIG. 5 is a conceptual view illustrating a traveling
principle of the moving robot according to the present
disclosure.
[0028] FIG. 6 is a conceptual diagram illustrating a signal flow
between devices to determine a position of the moving robot
according to the present disclosure.
[0029] FIG. 7 is a detailed configuration diagram of the moving
robot according to the present disclosure.
[0030] FIG. 8 is an exemplary view illustrating an example of theft
occurrence and theft occurrence detection according to an
embodiment of the present disclosure.
[0031] FIG. 9 is an exemplary view illustrating another example of
theft occurrence and theft occurrence detection according to an
embodiment of the present disclosure.
[0032] FIG. 10 is an exemplary view illustrating another example of
theft occurrence and theft occurrence detection according to an
embodiment of the present disclosure.
[0033] FIG. 11 is a flowchart illustrating a sequence for detecting
theft occurrence in an anti-theft mode according to an embodiment
of the present disclosure.
[0034] FIG. 12 is a flowchart illustrating a process of controlling
operation in an anti-theft mode according to an embodiment of the
present disclosure.
[0035] FIG. 13 is an exemplary view of an input screen according to
an embodiment of the present disclosure.
[0036] FIG. 14 is a flowchart illustrating a sequence for a method
for controlling the moving robot according to the present
disclosure.
MODES FOR CARRYING OUT THE PREFERRED EMBODIMENTS
[0037] Hereinafter, embodiments of a moving robot and a method for
controlling the moving robot according the present disclosure will
be described in detail with reference to the accompanying drawings,
and the same reference numerals are used to designate the same/like
components and redundant description thereof will be omitted.
[0038] In describing technologies disclosed in the present
disclosure, if a detailed explanation for a related known function
or construction is considered to unnecessarily divert the idea of
the technologies in the present disclosure, such explanation has
been omitted but would be understood by those skilled in the art.
It should be noted that the attached drawings are provided to
facilitate understanding of the technical idea disclosed in this
specification, and should not be construed as limiting the
technical idea by the attached drawings.
[0039] Hereinafter, an embodiment of a moving robot (hereinafter
referred to as "robot") according to the present disclosure will be
described.
[0040] The robot may refer to a robot capable of autonomous
traveling, a lawn-mowing moving robot, a lawn mowing robot, a lawn
mowing device, or a moving robot for lawn mowing.
[0041] As illustrated in FIG. 1, the robot 100 includes a main body
10 provided with a handle H, a driving unit 11 moving the main body
10, a sensing unit 12 sensing more than one state (or status)
information of the main body 10, a communication unit 13
communicating with a communication target element of the robot 100,
an output unit 14 displaying a control screen of the robot 100, and
a controller 20 determining position (or location) information of
the main body 10 based on at least one of a result of sensing by
the sensing unit 12 and a result of communication by the
communication unit 13, and controlling the driving unit 11 such
that the main body 10 travels within a travel area.
[0042] The controller 20 may control the driving unit 11, the
sensing unit 12, the communication unit 13, and the output unit 14.
The controller 20 may control driving of the driving unit 11, the
sensing unit 12, the communication unit 13, and the output unit 14,
so that the driving unit 11, the sensing unit 12, the communication
unit 13, and the output unit 14 perform their respective functions.
That is, the controller 20 may control driving of the driving unit
11, the sensing unit 12, the communication unit 13, and the output
unit 14 to control operation of the robot 100.
[0043] The controller 20 may determine current position information
of the main body 10 based on at least one of the result of sensing
and the result of communication to control the driving unit 11 such
that the main body 10 travels in the travel area 1000, and to
display status information regarding operation and control of the
robot 100 on the control screen via the output unit 14.
[0044] In the robot 100 including the main body 10, the driving
unit 11, the sensing unit 12, the communication unit 13, the output
unit 14, and the controller 20, when an anti-theft mode designed to
prevent the robot 100 from being stolen is set, the controller 20
detects a theft occurrence of the robot 100 based on the sensing
result and the position information, and controls driving of at
least one of the driving unit 11, the communication unit 13, or the
output unit 14 to restrict operation of the robot 100.
[0045] That is, when the anti-theft mode is set, the operation of
the robot 100 is restricted by controlling the driving of at least
one of the driving unit 11, the communication unit 13, and the
output unit 14.
[0046] As shown in FIGS. 2 and 3, the robot 100 may be an
autonomous traveling robot including the main body 10 configured to
be movable so as to cut a lawn. The main body 10 forms an outer
shape (or appearance) of the robot 100 and is provided with the
handle H. The main body 10 may include one or more elements
performing operation such as traveling of the robot 100 and lawn
cutting. The main body 10 includes the driving unit 11 that may
move the main body 10 in a desired direction and rotate the main
body 10. The driving unit 11 may include a plurality of rotatable
driving wheels. Each of the driving wheels may individually rotate
so that the main body 10 rotates in a desired direction. In detail,
the driving unit 11 may include at least one main driving wheel 11a
and an auxiliary wheel 11b. For example, the main body 10 may
include two main driving wheels 11a, and the two main driving
wheels may be installed on a rear lower surface of the main body
10.
[0047] The robot 100 may travel by itself within a travel area 1000
shown in FIG. 4. The robot 100 may perform particular operation
during traveling. Here, the particular operation may be cutting a
lawn in the travel area 1000. The travel area 1000 is a target area
in which the robot 100 is to travel and operate. A predetermined
outside and outdoor area may be provided as the travel area 1000.
For example, a garden, a yard, or the like in which the robot 100
is to cut a lawn may be provided as the travel area 1000. A
charging apparatus 500 for charging the robot 100 with driving
power may be installed in the travel area 1000. The robot 100 may
be charged with driving power by docking with the charging
apparatus 500 installed in the travel area 1000.
[0048] The travel area 1000 may be provided as a boundary area 1200
that is predetermined, as shown in FIG. 4. The boundary area 1200
corresponds to a boundary line between the travel area 1000 and an
outside area 1100, and the robot 100 may travel within the boundary
area 1200 not to deviate from the outside area 1100. In this case,
the boundary area 1200 may be formed to have a closed curved shape
or a closed-loop shape. Also, in this case, the boundary area 1200
may be defined by a wire formed to have a shape of a closed curve
or a closed loop. The wire 1200 may be installed in an arbitrary
area. The robot 100 may travel in the travel area 1000 having a
closed curved shape formed by the installed wire 1200.
[0049] As shown in FIG. 4, a transmission device 200 may be
provided in plurality in the travel area 1000. The transmission
device 200 is a signal generation element configured to transmit a
signal to determine position (or location) information of the robot
100. The transmission devices 200 may be installed in the travel
area 1000 in a distributed manner. The robot 100 may receive
signals transmitted from the transmission devices 200 to determine
a current position of the robot 100 based on a result of receiving
the signals, or to determine position information regarding the
travel area 1000. In this case, a receiver of the robot 100 may
receive the transmitted signals. The transmission devices 200 may
be provided in a periphery of the boundary area 1200 of the travel
area 1000. Here, the robot 100 may determine the boundary area 1200
based on installed positions of the transmission devices 200 in the
periphery of the boundary area 1200.
[0050] The robot 100 may operate according to a driving mechanism
(or principle) as shown in FIG. 4, and a signal may flow between
devices for determining a position as shown in FIG. 6.
[0051] As shown in FIG. 5, the robot 100 may communicate with the
terminal 300 moving in a predetermined area, and travel by
following a position of the terminal 300 based on data received
from the terminal 300. The robot 100 may set a virtual boundary in
a predetermined area based on position information received from
the terminal 300 or collected while the robot 100 is traveling by
following the terminal 300, and set an internal area formed by the
virtual boundary as the travel area 1000. When the boundary area
1200 and the travel area 1000 are set, the robot 100 may travel in
the travel area 1000 not to deviate from the boundary area 1200.
According to cases, the terminal 300 may set the boundary area 1200
and transmit the boundary area 1200 to the robot 100. When the
terminal 300 changes or expands an area, the terminal 300 may
transmit changed information to the robot 100 so that the robot 100
may travel in a new area. Also, the terminal 300 may display data
received from the robot 100 on a screen to monitor operation of the
robot 100.
[0052] The robot 100 or the terminal 300 may determine a current
position by receiving position information. The robot 100 and the
terminal 300 may determine a current position based on a signal for
position information transmitted from the transmission device 200
in the travel area 1000 or a global positioning system (GPS) signal
obtained using a GPS satellite 400. The robot 100 and the terminal
300 may determine a current position by receiving signals
transmitted from three transmission devices 200 and comparing the
signals with each other. That is, three or more transmission
devices 200 may be provided in the travel area 1000.
[0053] The robot 100 sets one certain point in the travel area 1000
as a reference position, and then calculates a position while the
robot 100 is moving as a coordinate. For example, an initial
starting position, that is, a position of the charging apparatus
500 may be set as a reference position. Alternatively, a position
of one of the plurality of transmission devices 200 may be set as a
reference position to calculate a coordinate in the travel area
1000. The robot 100 may set an initial position of the robot 100 as
a reference position in each operation, and then determine a
position of the robot 100 while the robot 100 is traveling. With
respect to the reference position, the robot 100 may calculate a
traveling distance based on rotation times and a rotational speed
of a driving wheel, a rotation direction of a main body, etc. to
thereby determine a current position in the travel area 1000. Even
when the robot 100 determines a position of the robot 100 using the
GPS satellite 400, the robot 100 may determine the position using a
certain point as a reference position.
[0054] As shown in FIG. 6, the robot 100 may determine a current
position based on position information transmitted from the
transmission device 200 or the GPS satellite 400. The position
information may be transmitted in the form of a GPS signal, an
ultrasound signal, an infrared signal, an electromagnetic signal,
or an ultra-wideband (UWB) signal. A signal transmitted from the
transmission device 200 may preferably be a UWB signal.
Accordingly, the robot 100 may receive the UWB signal transmitted
from the transmission device 200, and determine the current
position based on the UWB signal.
[0055] The robot 100 operating as described above may include the
main body 10, the driving unit 11, the sensing unit 12, the
communication unit 13, the output unit 14, and the controller 20 as
shown in FIG. 7. When the anti-theft mode is set, a robot 100 theft
occurrence may be detected and operation of the robot 100 may be
limited according to a result of detection. The robot 100 may
further include at least one selected from a data unit 15, an image
capturing unit 16, a receiver 17, an audio unit 18, an obstacle
detection unit 19, and a weeding unit 30. Also, the robot 100 may
further include a power supply unit (not shown) for supplying power
to each of the driving unit 11, the sensing unit 12, the
communication unit 13, the output unit 14, the data unit 15, the
image capturing unit 16, and the receiver 17, the audio unit 18,
the obstacle detection unit 19, the controller 20, and the weeding
unit 30.
[0056] The driving unit 11 is a driving wheel included in a lower
part of the main body 10, and may be rotationally driven to move
the main body 10. That is, the driving unit 11 may be driven such
that the main body 10 travels in the travel area 1000. The driving
unit 11 may include at least one driving motor to move the main
body 10 so that the robot 100 travels. For example, the driving
unit 11 may include a left wheel driving motor for rotating a left
wheel and a right wheel driving motor for rotating a right
wheel.
[0057] The driving unit 11 may transmit information about a result
of driving to the controller 20, and receive a control command for
operation from the controller 20. The driving unit 11 may operate
according to the control command received from the controller 20.
That is, the driving unit 11 may be controlled by the controller
20.
[0058] The sensing unit 12 may include one or more sensors that
sense at least one state (or status) of the main body 10. The
sensing unit 12 may include at least one sensor that senses a
posture and an operation state (or status) of the main body 10. The
sensing unit 12 may include at least one selected from an
inclination sensor that detects movement of the main body 10 and a
speed sensor that detects a driving speed of the driving unit 11.
The sensing unit 12 may further include a grip sensor that detects
a grip (or gripped) state of the handle H. The inclination sensor
may be a sensor that senses posture information of the main body
10. When the main body 10 is inclined forward, backward, leftward
or rightward, the inclination sensor may sense the posture
information of the main body 10 by calculating an inclined
direction and an inclination angle. A tilt sensor, an acceleration
sensor, or the like may be used as the inclination sensor. In the
case of the acceleration sensor, any of a gyro type sensor, an
inertial type sensor, and a silicon semiconductor type sensor may
be used. In addition, various sensors or devices capable of
detecting movement of the main body 10 may be used. The speed
sensor may be a sensor for sensing a driving speed of a driving
wheel provided in the driving unit 11. When the driving wheel
rotates, the speed sensor may sense the driving speed by detecting
rotation of the driving wheel.
[0059] The sensing unit 12 may transmit information of a result of
sensing to the controller 20, and receive a control command for
operation from the controller 20. The sensing unit 12 may operate
according to a control command received from the controller 20.
That is, the sensing unit 12 may be controlled by the controller
20.
[0060] The communication unit 13 may communicate with at least one
communication target element that is to communicate with the robot
100. The communication unit 13 may communicate with the
transmission device 200 and the terminal 200 using a wireless
communication method. The communication unit 13 may be connected to
a predetermined network so as to communicate with an external
server or the terminal 300 that controls the robot 100. When the
communication unit 13 communicates with the terminal 300, the
communication unit 13 may transmit a generated map to the terminal
300, receive a command from the terminal 300, and transmit data
regarding an operation state (or status) of the robot 100 to the
terminal 300. The communication unit 13 may include a communication
module such as wireless fidelity (Wi-Fi), wireless broadband
(WiBro), or the like, as well as a short-range wireless
communication module such as Zigbee, Bluetooth, or the like, to
transmit and receive data.
[0061] The communication unit 13 may transmit information about a
result of the communication to the controller 20, and receive a
control command for operation from the controller 20. The
communication unit 13 may operate according to the control command
received from the controller 20. That is, the communication unit 13
may be controlled by the controller 20.
[0062] The output unit 14 may include at least one input element
such as a button, a switch, a touch pad, etc., and an output
element such as a display unit, and the like to receive a user's
command and output an operation state of the robot 100. For
example, a command for executing the anti-theft mode may be input
and a status for execution of the anti-theft mode may be output via
the display unit.
[0063] The output unit 14 may display a state of the robot 100
through the display unit, and display a control screen on which
manipulation or an input is applied for controlling the robot 100.
The control screen may mean a user interface screen on which a
driving state of the robot 100 is displayed and output, and a
command for operating the robot 100 is input from a user. The
control screen may be displayed on the display unit under the
control of the controller 20, and a display and an input command on
the control screen may be controlled by the controller 20.
[0064] The output unit 14 may transmit information about an
operation state to the controller 20 and receive a control command
for operation from the controller 20. The output unit 14 may
operate according to a control command received from the controller
20. That is, the output unit 14 may be controlled by the controller
20.
[0065] The data unit 15 is a storage element that stores data
readable by a microprocessor, and may include a hard disk drive
(HDD), a solid state disk (SSD), a silicon disk drive (SDD), a read
only memory (ROM) a random access memory (RAM), CD-ROM, a magnetic
tape, a floppy disk, or an optical data storage device. In the data
unit 15, a received signal may be stored, reference data to
determine an obstacle may be stored, and obstacle information
regarding a detected obstacle may be stored. In the data unit 15,
control data that controls operation of the robot 100, data
according to an operation mode of the robot 100, position
information collected, and information about the travel area 1000
and the boundary area 1200 may be stored.
[0066] The image capturing unit 16 may be a camera capturing an
image of a periphery of the main body 10 to generate image
information of the travel area 1000 of the main body 10. The image
capturing unit 16 may capture an image of a forward direction of
the main body 10 to detect an obstacle around the main body 10 and
in the travel area 1000. The image capturing unit 16 may be a
digital camera, which may include an image sensor (not shown) and
an image processing unit (not shown). The image sensor is a device
that converts an optical image into an electrical signal. The image
sensor includes a chip in which a plurality of photodiodes is
integrated. A pixel may be an example of a photodiode. Electric
charges are accumulated in the respective pixels by an image, which
is formed on the chip by light that has passed through a lens, and
the electric charges accumulated in the pixels are converted to an
electrical signal (for example, a voltage). A charge-coupled device
(CCD) sensor and a complementary metal oxide semiconductor (CMOS)
sensor are well known as image sensors. In addition, the image
capturing unit 16 may include a Digital Signal Processor (DSP) for
the image processing unit to process a captured image so as to
generate image information.
[0067] The image capturing unit 16 may capture an image of a
periphery of the main body 10 from a position where it is
installed, and generate image information according to a result of
image capturing. The image capturing unit 16 may be provided at an
upper portion of a rear side of the main body 10. The image
capturing unit 16 may capture an image of a traveling direction of
the main body 10. That is, the image capturing unit 16 may capture
an image of a forward direction of the main body 10 to travel. The
image capturing unit 16 may capture an image around the main body
10 in real time to generate the image information.
[0068] The image capturing unit 16 may transmit information about a
result of image capturing to the controller 20, and receive a
control command for operation from the controller 20. The image
capturing unit 16 may operate according to the control command
received from the controller 20. That is, the image capturing unit
16 may be controlled by the controller 20.
[0069] The receiver 17 may include a plurality of signal sensor
modules that transmits and receives the position information. The
receiver 17 may include a position sensor module that receives the
signals transmitted from the transmission device 200. The position
sensor module may transmit a signal to the transmission device 200.
When the transmission device 200 transmits a signal using a method
selected from an ultrasound method, a UWB method, and an infrared
method, the receiver 17 may include a sensor module that transmits
and receives an ultrasound signal, a UWB signal, or an infrared
signal, in correspondence with this. The receiver 17 may include a
UWB sensor. As a reference, UWB radio technology refers to
technology using a very wide frequency range of several GHz or more
in baseband instead of using a radio frequency (RF) carrier. UWB
wireless technology uses very narrow pulses of several nanoseconds
or several picoseconds. Since pulses emitted from such a UWB sensor
are several nanoseconds or several picoseconds long, the pulses
have good penetrability. Thus, even when there are obstacles in a
periphery of the UWB sensor, the receiver 17 may receive very short
pulses emitted by other UWB sensors.
[0070] When the robot 100 travels by following the terminal 300,
the terminal 300 and the robot 100 include the UWB sensor,
respectively, thereby transmitting or receiving a UWB signal with
each other through the UWB sensor. The terminal 300 may transmit
the UWB signal to the robot 100 through the UWB sensor included in
the terminal 300. The robot 100 may determine a position of the
terminal 300 based on the UWB signal received through the UWB
sensor, allowing the robot 100 to move by following the terminal
300. In this case, the terminal 300 operates as a transmitting side
and the robot 100 operates as a receiving side. When the
transmission device 200 includes the UWB sensor and transmits a
signal, the robot 100 or the terminal 300 may receive the signal
transmitted from the transmission device 200 through the UWB sensor
included in the robot 100 or the terminal 300. At this time, a
signaling method performed by the transmission device 200 may be
identical to or different from signaling methods performed by the
robot 100 and the terminal 300.
[0071] The receiver 17 may include a plurality of UWB sensors. When
two UWB sensors are included in the receiver 17, for example,
provided on left and right sides of the main body 10, respectively,
the two USB sensors may receive signals, respectively, and compare
a plurality of received signals with each other to thereby
calculate an accurate position. For example, according to a
position of the robot 100, the transmission device 200, or the
terminal 300, when a distance measured by a left sensor is
different from a distance measured by a right sensor, a relative
position between the robot 100 and the transmission device 200 or
the terminal 300, and a direction of the robot 100 may be
determined based on the measured distances.
[0072] The receiver 17 may further include a GPS module for
transmitting and receiving a GPS signal to and from the GPS
satellite 400.
[0073] The receiver 17 may transmit a result of receiving a signal
to the controller 20, and receive a control command for operation
from the controller 20. The receiver 17 may operate according to
the control command received from the controller 20. That is, the
receiver 17 may be controlled by the controller 20.
[0074] The audio unit (or module) 18 may include an output element
such as a speaker to output an operation state of the robot 100 in
the form of an audio output. The audio unit 18 may output an alarm
when an event occurs while the robot 100 is operating. For example,
when the power is run out, an impact or shock is applied to the
robot 100, or an accident occurs in the travel area 1000, the audio
unit 18 may output an alarm audio output so that the corresponding
information is provided to the user.
[0075] The audio unit 18 may transmit information regarding an
operation state to the controller 20 and receive a control command
for operation from the controller 20. The audio unit 18 may operate
according to a control command received from the controller 20.
That is, the audio unit 18 may be controlled by the controller
20.
[0076] The obstacle detection unit 19 includes a plurality of
sensors to detect obstacles located in a traveling direction. The
obstacle detection unit 19 may detect an obstacle located in a
forward direction of the main body 10, that is, in a traveling
direction of the main body 10 using at least one selected from a
laser sensor, an ultrasonic sensor, an infrared sensor, and a
three-dimensional (3D) sensor. The obstacle detection unit 19 may
further include a cliff detection sensor installed on a rear
surface of the main body 10 to detect a cliff.
[0077] The obstacle detection unit 19 may transmit information
regarding a result of detection to the controller 20, and receive a
control command for operation from the controller 20. The obstacle
detection unit 19 may operate according to the control command
received from the controller 20. That is, the obstacle detection
unit 19 may be controlled by the controller 20.
[0078] The weeding unit 30 cuts grass on the bottom while
traveling. The weeding unit 30 is provided with a brush or blade
for cutting a lawn, so as to cut the grass on the ground in a
rotating manner.
[0079] The weeding unit 30 may transmit information about a result
of operation to the controller 20 and receive a control command for
operation from the controller 20. The weeding unit 30 may operate
according to the control command received from the controller 20.
That is, the weeding unit 30 may be controlled by the controller
20.
[0080] The controller 20 may include a central processing unit to
control overall operation of the robot 100. The controller 20 may
determine the position information via the main body 10, the
driving unit 11, the sensing unit 12, the communication unit 13,
and the output unit 14 to control the main body 10 such that the
main body 10 travels within the travel area 1000, and control
functions and operation of the robot 100 to be performed via the
data unit 15, the image capturing unit 16, the receiver 17, the
audio unit 18, the obstacle detection unit 19, and the weeding unit
30.
[0081] The controller 20 may control input and output of data, and
control the driving unit 11 so that the main body 10 travels
according to settings. The controller 20 may independently control
operation of the left wheel driving motor and the right wheel
driving motor by controlling the driving unit 11 to thereby control
the main body 10 to travel rotationally or in a straight line.
[0082] The controller 20 may set the boundary area 1200 of the
travel area 1000 based on position information received from the
terminal 300 or position information determined based on the signal
received from the transmission device 200. The controller 20 may
also set the boundary area 1200 of the travel area 1000 based on
position information that is collected by the controller 20 during
traveling. The controller 20 may set a certain area of a region
formed by the set boundary area 1200 as the travel area 1000. The
controller 20 may set the boundary area 1200 in a closed loop form
by connecting discontinuous position information in a line or a
curve, and set an inner area within the boundary area 1200 as the
travel area 1000. When the travel area 1000 and the border area
1200 corresponding thereto are set, the controller 20 may control
traveling of the main body 10 so that the main body 10 travels in
the travel area 1000 without deviating from the set boundary area
1200. The controller 20 may determine a current position based on
received position information and control the driving unit 11 so
that the determined current position is located in the travel area
1000 to thereby control traveling of the main body 10.
[0083] In addition, according to obstacle information input by at
least one of the image capturing unit 16, the obstacle detection
unit 19, and the controller 20 may control traveling of the main
body 10 to avoid obstacles and travel. In this case, the controller
20 may modify the travel area 1000 by reflecting the obstacle
information to pre-stored area information regarding the travel
area 1000.
[0084] In the robot 100 having the configuration as shown in FIG.
7, when the anti-theft mode is set, the controller 20 may detect a
robot 100 theft occurrence, and control driving at least one of the
driving unit 11, the communication unit 13, or the output unit 14
to restrict operation of the robot 100 depending on a result of
detection.
[0085] The robot 100 may perform set operation while traveling in
the travel area 1000. For example, the robot 100 may cut a lawn on
the bottom of the travel area 1000 while traveling in the travel
area 1000 as shown in FIG. 8.
[0086] In the robot 100, the main body 10 may travel according to
driving of the driving unit 11. The main body 10 may travel as the
driving unit 11 is driven to move the main body 10.
[0087] In the robot 100, the driving unit 11 may be driven by the
controller 20. Under the control of the controller 20, the driving
unit 11 may be driven by receiving driving power from the power
supply unit. The driving unit 11 may move the main body 10 by
driving the driving wheels. The driving unit may move the main body
10 by operating the driving wheels, so that the main body 10
travels.
[0088] In the robot 100, the sensing unit 12 may be driven by the
controller 20. The sensing unit 12 may be driven by receiving
driving power from the power supply unit under the control of the
controller 20. The sensing unit 12 may include one or more sensors
to sense one or more states of the main body 10. The sensing unit
12 may include at least one of a contact sensor that senses a grip
(or gripped) state of the handle H and an inclination sensor that
senses posture information of the main body 10. That is, in the
sensing unit 12, the grip state of the handle H may be sensed by
the contact sensor, and an inclination (or tilt) of the main body
10 may be sensed by the inclination sensor. Accordingly, a result
of the sensing may be at least one of the sensing the grip state of
the handle H and the sensing of the inclination of the main body
10. The sensing unit 12 may include both the contact sensor and the
inclination sensor.
[0089] In the robot 100, the communication unit 13 may be driven by
the controller 20. The communication unit 13 may be driven by
receiving driving power from the power supply unit under the
control of the controller 20. The communication unit 13 may
communicate with the communication target element for transmitting
and receiving information to and from the communication target
element. Here, the communication target element may be the terminal
300. The communication target element may further include the
transmission device 200. The communication unit 13 may receive
information for determining the position information from the
communication target element, and transmit the position information
to the communication target element. The communication unit 13 may
communicate with the communication target element in real time.
[0090] In the robot 100, the output unit 14 may be driven by the
controller 20. The output unit 14 may be driven by receiving
driving power from the power supply unit under the control of the
controller 20. The output unit 14 may display the control screen,
so as to display information regarding operation and control state
of the robot 100. For example, position information of the main
body 10, a control interface for controlling operation of the robot
100, and the like may be displayed.
[0091] In the robot 100, the controller 20 may control each of the
driving unit 11, the sensing unit 12, the communication unit 13,
and the output unit 14. The controller 20 may control the driving
unit 11, the sensing unit 12, the communication unit 13, and the
output unit 14 individually (or separately) by controlling driving
power supply. In more detail, the controller 20 may control the
driving power of the driving unit 11, the sensing unit 12, the
communication unit 13, and the output unit 14 supplied from the
power supply unit to control driving of the driving unit 11, the
sensing unit 12, the communication unit 13, and the output unit 14.
Here, the driving control may mean controlling a function of the
driving unit 11, the sensing unit 12, the communication unit 13,
and the output unit 14, as well as controlling the driving itself.
The controller 20 may determine position information of the main
body 10 based on at least one of a result of sensing by the sensing
unit 12 and a result of communication by the communication unit 13
to control the driving unit 11, so that the main body 10 is
controlled to travel in the travel area 1000 based on the position
information.
[0092] The controller 20 may control operation of the robot 100
according to a set operation mode. Here, the operation mode is a
mode related to the operation of the robot 100, and may include,
for example, a traveling mode, a monitoring mode, and the
anti-theft mode. The controller 20 may control each of the driving
unit 11, the sensing unit 12, the communication unit 13, and the
output unit 14 according to a set operation mode. That is, the
controller 20 may control operation of the robot 100 to perform the
set mode by controlling the driving unit 11, the sensing unit 12,
the communication unit 13, and the output unit 14,
respectively.
[0093] When the anti-theft mode designed to prevent the robot 100
from being stolen is set, the controller 20 may detect a robot 100
theft occurrence based on the sensing result and the position
information, and control at least one of the driving unit 11, the
communication unit 13, or the output unit 14 to restrict operation
of the robot 100 according to a detection result. That is, the
anti-theft mode may be a mode for detecting robot 100 theft and
limiting operation of the robot 100 when the robot 100 theft is
occurred. Accordingly, in the anti-theft mode, the controller 20
may detect the robot 100 theft occurrence based on the sensing
result and the location information, and restrict the operation of
the robot 100 by controlling the driving of one or more of the
driving unit 11, the communication unit 13, and the output unit 14
when the robot 100 theft is occurred.
[0094] An example how the controller 20 detects the robot 100 theft
occurrence in the anti-theft mode will be described with reference
to FIG. 8.
[0095] As illustrated in FIG. 8, when the main body 10 located in
the travel area 1000 is not in the travel area 1000, the controller
20 may determine that robot 100 theft is occurred, and identify the
robot 100 theft occurrence. That is, the controller 20 may detect
the robot 100 theft when the robot 100 is moved to the outside of
the travel area 1000 by an external force of a person who is not
the owner of the robot 100.
[0096] The controller 20 may compare the sensing result with
predetermined determination criteria (or reference) and the
position information to determine whether the main body 10 is
deviated from the travel area 1000, so as to detect the robot 100
theft occurrence. In more detail, the controller 20 may identify
the robot 100 theft occurrence based on a result of comparing at
least one of the results of sensing the main body 10 status with
the determination criteria, and the position information of the
current position of the main body 10. Here, the sensing results may
be sensing a grip (or gripped) state of the handle H and an
inclination of the main body 10. In addition, the determination
criteria may be a reference for at least one of a grip state of the
handle H and an inclination of the main body 10, for example,
whether the handle H is gripped or whether the main body 10 is
inclined more than a predetermined inclination. Accordingly, the
controller 20 may detect the robot 100 theft occurrence based on a
result of comparing a sensing result of the grip state of the
handle H with the determination criteria and the location
information, or based on a result of comparing a sensing result of
the inclination of the main body 10 with the determination criteria
and the location information.
[0097] The controller 20 may detect the theft occurrence when the
sensing result corresponds to the determination criteria, and the
position information corresponds to the outside of the travel area
1000 (or non-travel area 1000). That is, when at least one of the
sensing results, either the grip state of the handle H or the
inclination of the main body 10, corresponds to the determination
criteria, and when the position information corresponds to the
outside of the travel area 1000, the controller 20 may detect the
theft occurrence. For instance, the controller 20 may detect the
theft occurrence when the handle H is gripped and the main body 10
is deviated from the travel area 1000. Referring to FIGS. 9 and 10,
the theft occurrence may be detected when the handle H is gripped
by the person who is not the owner of the robot 100, and the main
body 10 is lifted from the ground as shown in FIG. 10 and is then
moved to the outside the travel area 1000 as shown in FIG. 8.
Alternatively, the controller may detect the theft occurrence when
the main body 10 is tilted more than a predetermined inclination
and the main body 10 is deviated from the travel area 1000. In
detail, the robot 100 theft may be detected when the main body 10
in a state as shown in FIG. 9 is lifted from the ground more than a
predetermined inclination 8 set for the predetermined determination
criteria as shown in FIG. 10, and is then moved to the outside of
the travel area 1000.
[0098] As such, when the sensing result corresponds to the
determination criteria, and the position information corresponds to
the outside of the travel area 1000, the controller 20 that senses
the theft occurrence may detect a malfunction or an error in the
sensing unit 12 when the sensing result corresponds to the
determination criteria, but the position information falls within
the travel area 1000. In other words, when the sensing result
corresponds to the determination criteria, but the main body 10 is
not deviated from the travel area 1000, the controller 20
determines that the sensing unit 12 is not working properly since
the sensing result of the gripped state of the handle H or the
inclination of the main body 10 by the sensing unit 12 is
mistakenly or wrongly sensed.
[0099] A process of detecting the theft occurrence by the
controller 20 is illustrated in FIG. 11. When the anti-theft mode
is set, the controller 20 may carry on detecting the theft
occurrence (PO), and receive a result of sensing the main body 10
from the sensing unit 12. The sensing unit 12 may sense at least
one of a grip(ped) state of the handle H (P1a) and an inclination
of the main body 10 (P1b), and transmit the sensing result to the
controller 20. Then the controller 20 compares the sensing result
with the determination criteria to determine whether the grip state
of the handle H (P1a) and/or the inclination of the main body 10
(P1b) corresponds to the determination criteria (P2). When at least
one of the grip state of the handle H (P1a) and the inclination of
the main body 10 (P1b) corresponds to the determination criteria,
the controller 20 may determine whether the current position of the
main body 10 is deviated from the travel area 1000 (P3) to detect
the theft occurrence (P4 or P4'). When the main body 10 is deviated
from the travel area 1000, the controller 20 may determine that the
robot 100 theft is occurred, thereby detecting the theft occurrence
(P4). That is, the controller 20 may detect the theft occurrence
(P4) when at least one of the grip state of the handle H (P1a) and
the inclination of the main body 10 (P1b) corresponds to the
determination criteria, and the position information corresponds to
the outside of the travel area 1000. When the main body 10 is not
deviated from the travel area 1000, the controller 20 may detect a
malfunction or an error in the sensing unit 12 (P4') and determines
that the sensing unit 12 is not working properly. In more detail,
the controller 20 may detect the error in the sensing unit 12 (P4')
when at least one of the grip state of the handle H (P1a) and the
inclination of the main body 10 (P1b) corresponds to the
determination criteria, and the position information falls within
the travel area 1000.
[0100] As such, when the controller 20 detects the theft
occurrence, the controller 20 may control driving of the driving
unit 11, the communication unit 13, and the output unit 14 to
restrict operation of the robot 100, respectively. In other words,
when the theft occurrence is detected, the controller 20 controls
the driving of the driving unit 11, the communication unit 13, and
the output unit 14, respectively, so as to prevent the robot 100
from being operated by a person who stole the robot 100.
[0101] When the controller 20 detects the theft occurrence, the
controller 20 may cut off power supplied to the driving unit 11 and
the output unit 14 to prevent driving of the driving unit 11 and
the output unit 14. That is, when the theft occurrence is sensed,
the controller 20 blocks driving of the driving unit 11 and the
output unit 14, so as to prevent the robot 100 from being
manipulated by the person who stole the robot 100 and being
operated or used by the person who stole the robot 10. The
controller 20 may cut off the driving power supplied to the driving
unit 11 and the output unit 14 from the power supply unit, so as to
prevent driving of the driving unit 11 and the output unit 14. In
more detail, the controller 20 cuts off the driving power of the
driving unit 11 moving the main body 10 and the output unit 14
displaying the control screen for controlling the robot 100 to
prevent the robot 100 from being manipulated by the person who
stole the robot 100 and from being used by the person who stole the
robot 10 in the first place.
[0102] When the robot 100 theft is detected, the controller 20 may
also transmit information about the theft occurrence to the
communication target element via the communication unit 13. That
is, when the robot 100 theft is detected, the controller 20
controls the communication unit 13 to transmit the information of
the theft occurrence to the communication target element, allowing
the corresponding theft information to be transmitted to the
communication target element. In case the theft occurrence is
detected, the controller 20 generates information regarding at
least one of a location in which the theft occurred and time at
which the theft occurred, and transmit the generated information to
the communication target element via the communication unit 13.
[0103] When the theft occurrence is detected, the controller 20 may
output a notification audio output via the audio unit 18. That is,
the controller 20 may control the audio unit 18 to output the
notification audio output to notify a situation of the robot 100
theft occurrence when the theft occurrence is detected. Here, the
controller 20 may control the audio unit 18 to output the
notification audio output according to a preset output
reference.
[0104] The controller 20, after detecting the theft occurrence, may
control the output unit 14 to display an input screen for
requesting an input of a preset usage code. The power supplied to
the driving unit 11 and the output unit 14 may be cut off depending
on the code entered through the input screen. The usage code may
mean a code for identifying an (authorized) user of the robot 100
in the event of the theft occurrence, the code may be a PIN CODE, a
PASSWORD, or the like. The usage code may also mean a code for
reactivating the robot 100, a user authentication code for the
robot 100, and a code for unlocking the robot 100. The usage code
may be set by the user of the robot 100 in advance. The usage code
may be a combination of any numbers, letters, and symbols created
by the user of the robot 100. The input screen IS for requesting an
input of the usage code may be displayed on the output unit 14,
allowing the user to input the usage code on the input screen IS as
shown in FIG. 13. The input screen IS may be displayed on the
output unit 14 after the theft occurrence is detected, and before
the power supplied to the driving unit 11 and the output unit 14 is
cut off. In other words, the input screen IS may be a screen for
determining on whether a user (or person) is the authorized user of
the robot 100 before restricting the operation of the robot
100.
[0105] The controller 20 may cut off the power supplied to the
driving unit 11 and the output unit 14 according to a code input on
the input screen IS. When the input code matches with the preset
usage code, the controller 20 may determine that the theft
occurrence is cleared or resolved, and maintain the power supplied
to the driving unit 11 and the output unit 14. That is, when the
usage code is correctly entered into the input screen IS, the
controller 20 may determine that the robot 100 is operated by the
authorized user and the theft occurrence is cleared as it is not
stolen, thereby maintaining the power supplied to the driving unit
11 and the output unit 14. When the input code does not match with
the preset usage code, the controller 20 may cut off the power
supplied to the driving unit 11 and the output unit 14. In other
words, when the usage code is incorrectly entered into the input
screen, the controller 20 may determine that the robot 100 is
manipulated by a person who stole the robot 100 (or an unauthorized
user), so that the power supplied to the driving unit 11 and the
output unit 14 may be cut off to limit the operation of the robot
100.
[0106] The controller 20 that displays the input screen IS for
requesting an input of the usage code via the output unit 14 may
display the input screen IS for a predetermined number of input
times. The controller 20 may display the input screen IS by the
number of input times until the usage code matching with the preset
usage code is entered. In other words, the controller 20 may repeat
a usage code input request by the number of input times until the
usage code is entered correctly. Here, the number of input times
may be set by the user, for example, five times. If the usage code
is entered incorrectly more than the predetermined number of input
times, the controller 20 may cut off the power supplied to the
driving unit 11 and the output unit 14. In more detail, if the
wrong usage code is entered more than the number of input times,
the controller 20 determines that an unauthorized user attempts to
manipulate the robot 100. Then the power supplied to the driving
unit 11 and the output unit 14 may be cut off.
[0107] As such, the controller 20 that detects the theft occurrence
and restricts the operation of the robot 100 may track the position
information of the robot 100 until the theft occurrence is cleared
after the theft occurrence is detected, and transmit the position
information to the communication target element according to a
predetermined transmission period via the communication unit 13.
That is, the controller 20 may keep tracking of the position
information of the robot 100 until the theft occurrence is cleared
after detecting the theft occurrence, and transmit the position
information to the communication target element via the
communication unit 13. By doing so, a theft or stolen path can be
tracked as the robot 100 keeps providing its position information
in a stolen state.
[0108] A process of restricting operation of the robot 100 by the
controller 20 will be described with reference to FIG. 12. When the
theft occurrence is detected (P4), the controller 20 controls the
output unit 14 to display the input screen IS (P5). Here, the
controller 20 may transmit information about the theft occurrence
to the communication target element via the communication unit 13.
In addition, the controller 20 may output a notification audio
output for the theft occurrence via the audio unit 18. When a usage
code is entered (P6) into the input screen IS, the controller 20
compares the usage code entered with the preset usage code (P7),
and determines whether the robot 100 is stolen to remove the theft
occurrence. After comparing the input usage code with the preset
usage code (P7), the controller 20 may determine that the robot 100
theft occurrence is cleared (P8) when the input usage code matches
with the preset usage code. In other words, when the usage code is
entered correctly, the controller 20 may determine that the robot
100 is manipulated by the authorized user, and the theft occurrence
is cleared (P8). Thus, the power supplied to the driving unit 11
and the output unit 14 may be maintained. When the input code does
not match with the preset usage code, after comparing the input
code with the usage code (P7), the controller 20 may cut off the
power supplied to the driving unit 11 and the output unit 14 (P9).
That is, when the usage code is entered incorrectly, the controller
20 may determine that an unauthorized user (person who stole the
robot 100) attempts to manipulate the robot 100, then restricts the
operation of the robot 100 by cutting off the power supplied to the
driving unit 11 and the output unit 14 (P9). In this case, the
controller 20 may generate information regarding at least one of a
location in which the theft is occurred and time at which the theft
is occurred, and transmit the generated information to the
communication target element via the communication unit 13 (P10).
In other words, when the usage code is entered incorrectly, the
controller 20 determines that the robot 100 is manipulated by the
unauthorized user, and transmit theft occurrence information to the
communication target element via the communication unit 13 (P10),
allowing a situation of the robot 100 theft occurrence to be
transmitted to the communication target element. As such, when the
theft incident is detected, the controller 20 may cut off the power
supplied to the driving unit 11 and the output unit 14, and
transmit information of the detected theft occurrence to the
communication target element via the communication unit 13, thereby
restricting the operation of the robot 100 and providing the
information of the detected theft occurrence.
[0109] The robot 100 as described above may be implemented by using
a method for controlling a moving robot (hereinafter referred to as
"control method") to be described hereinafter.
[0110] The control method is a method for controlling the moving
robot 100 as shown in FIGS. 1 to 3, which may be applied to the
robot 100. It may also be applied to robots other than the robot
100.
[0111] The control method may be for controlling the robot 100 that
includes the main body 10 provided with the handle H, the driving
unit 11 moving the main body 10, the sensing unit 12 sensing at
least one of state information of the main body 10, the
communication unit 13 communicating with a communication target
element of the robot 100, the output unit 14 displaying a control
screen of the robot 100, and the controller 20 determining position
information of the main body 100 based on at least one of a result
of sensing by the sensing unit 12 and a result of communication by
the communication unit 13 and controlling the driving unit 11 to
control traveling of the main body 10, so that the main body 10
travels in the travel area 1000, which may be for a method of
performing an anti-theft mode to prevent the robot 100 from being
stolen.
[0112] The control method may be a control method performed by the
controller 20.
[0113] As illustrated in FIG. 14, the control method may include
detecting robot 100 theft occurrence based on the sensing result
and the position information (S10), displaying an input screen on
the output unit 14 for requesting an input of a preset usage code
(S20), and controlling driving of the driving unit 11 and the
output unit 14 depending on the used code the input screen
(S30).
[0114] In other words, the robot 100 may perform the anti-theft
mode in order from detecting (S10), displaying (S20), to
controlling (S30).
[0115] The detecting step S10 may be a step in which the controller
20 detects the theft occurrence based on the sensing result and the
position information after the anti-theft mode is set.
[0116] In the detecting step S10, the theft occurrence may be
detected by comparing a result of sensing the grip (or gripped)
state of the handle H and sensing an inclined (or tilted) state of
the main body 10 with predetermined determination criteria to
determine whether at least one of the grip state of the handle H
and the inclined state of the main body 10 corresponds to the
determination criteria.
[0117] In the detecting step S10, when at least one of the gripped
state of the handle H and the inclined state of the main body 10
corresponds to the determination criteria, the current position of
the main body 10 is determined on whether the current position of
the main body 10 is deviated from the travel area 1000 to identify
the theft occurrence according to a determination result.
[0118] In the detecting step S10, when at least one of the gripped
state of the handle H and the inclined state of the main body 10
corresponds to the determination criteria and the position
information corresponds to the outside of the travel area 1000, the
robot 100 is determined to be stolen, allowing the theft occurrence
to be identified.
[0119] In the detecting step S10, at least one of the gripped state
of the handle H and the inclined state of the main body 10
corresponds to the determination criteria, and the position
information corresponds to the travel area 1000, a malfunction or
an error in the sensing unit 12 may be detected.
[0120] The displaying step S20 may be a step in which the
controller 20 displays the input screen on the output unit 14 when
the theft occurrence is detected at the detecting step S20.
[0121] In the displaying step S20, the input screen may be
displayed on the output unit 14 for requesting an input of the
usage code.
[0122] In the displaying step S20, the input screen may be
displayed for a predetermined number of input times.
[0123] In the displaying step S20, the input screen may be
displayed on the output unit 14 for the number of input times until
the usage code is entered correctly.
[0124] In the displaying step S20, a request of the usage code
input may be repeated by the number of input times until the usage
code is entered correctly.
[0125] The controlling step S30 may be a step in which the
controller 20 controls driving of the driving unit 11 and the
output unit 14 according to the usage code entered into the input
screen displayed at the displaying step S20.
[0126] In the controlling step S30, the input usage code is
compared with the preset usage code to determine whether the robot
100 is stolen to cancel the theft occurrence.
[0127] In the controlling step S30, when the input code matches
with the preset usage code, it is determined that the robot 100 is
not stolen and the theft occurrence is cleared, and thus power
supplied to the driving unit 11 and the output unit 14 may be
maintained.
[0128] In the controlling step S30, when the code input does not
match with the preset usage code, it is determined that an
unauthorized person (a person who stole the robot 100) attempts to
manipulate the robot 100, then the power supplied to the driving
unit 11 and the output unit 14 may be cut off.
[0129] The control method that includes the detecting (S10), the
displaying (S20), and the controlling (S30) can be implemented as
computer-readable codes on a program-recorded medium. The
computer-readable medium may include all types of recording devices
each storing data readable by a computer system. Examples of such
computer-readable media may include hard disk drive (HDD), solid
state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM,
magnetic tape, floppy disk, optical data storage element and the
like. The computer-readable medium may also be implemented as a
format of carrier wave (e.g., transmission via an Internet). In
addition, the computer may also include the controller 20.
[0130] The above-described embodiments of the moving robot and the
method for controlling the moving robot according to the present
disclosure may be applied and implemented with respect to a control
element for a moving robot, a moving robot system, a control system
of a moving robot, a method for controlling a moving robot, a
method for monitoring an area of the moving robot, a control method
of monitoring an area of the moving robot, and the like. In
particular, the above-described embodiments may be usefully applied
and implemented with respect to a lawn mowing robot, a control
system of a lawn mowing robot, a method for detecting theft of a
lawn mowing robot, a method for preventing theft of a lawn mowing
robot, etc. However, the technology disclosed in this specification
is not limited thereto, and may be implemented in any moving robot,
a control element for a moving robot, a moving robot system, a
method for controlling a moving robot, or the like to which the
technical idea of the above-described technology may be
applied.
[0131] While the present disclosure has been particularly shown and
described with reference to embodiments thereof, it will be
understood that various changes in form and details may be made
therein without departing from the spirit and scope of the present
disclosure as defined by the following claims. Therefore, the scope
of the present disclosure should not be limited by the described
embodiments, but should be determined by the scope of the appended
claims and equivalents thereof.
[0132] While the present disclosure has been particularly shown and
described with reference to exemplary embodiments, described
herein, and drawings, it may be understood by one of ordinary skill
in the art that various changes and modifications thereof may be
made. Therefore, the scope of the present disclosure should be
defined by the following claims, and various changes equal or
equivalent to the claims pertain to the category of the concept of
the present disclosure.
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